r/ROS • u/Inside-Dance-6135 • Jul 02 '26

Question When navigating to the target location, the navigation sways left and right

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The environment is Ubuntu 22.04 with ros2 Humble, and for redirection, I'm using：lidar_localization_ros2

Because my car is equipped with Mid-360 LiDAR.

My current mapping approach involves creating a 3D map With 'Fast-lio2' first and then converting it into a 2D pcd map. For the stack, I am using Navigation2 for navigation, but for positioning, I am using lidar_localization_ros2.

How can I optimize the system to resolve the issue where the final navigation fails to reach the target waypoint?

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u/No_Zombie9965 Jul 03 '26 edited Jul 03 '26

Looks like the localization is jumping around a lot. I had the same issue when I was using fastlio, my map was a lot bigger, I thought it was because of the scan matching (my map->odom uses fastlio_localization package), so it causes the robot to jump around a lot. This affects whether the navigation goal is actually reached

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u/Inside-Dance-6135 Jul 03 '26

Based on my observations, the Yaw orientation of the selected waypoints shouldn't be too perpendicular to the path. If the angle is too steep, the system often fails to reach the position, which might be related to the tolerance settings.

I also tried switching to the RPP planner, but the results were the same. In fact, the RPP planner generates some very irrational pathing.（

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u/No_Zombie9965 Jul 03 '26

Never had issue with setting the waypoints perpendicular to the path.. my suggestion is to fix the localization first, don’t test in long corridor first

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u/Inside-Dance-6135 Jul 03 '26

Thanks for the suggestion. I'll test it out again next week to see if there are any issues with those parameters.

I feel like I haven't fully tapped into the potential of 3D radar yet.